12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

new function readBal which returns the SfmData object, allowing for single line calling

release/4.3a0
Varun Agrawal 2020-09-03 00:33:38 -04:00
parent 02cc96de01
commit e95840b1b5
2 changed files with 15 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/slam/dataset.cpp
View File

@ -1129,6 +1129,13 @@ bool readBAL(const string &filename, SfmData &data) {
return true; return true;
} }
/* ************************************************************************* */
SfmData readBAL(const string &filename) {
SfmData data;
readBAL(filename, data);
return data;
}
/* ************************************************************************* */ /* ************************************************************************* */
bool writeBAL(const string &filename, SfmData &data) { bool writeBAL(const string &filename, SfmData &data) {
// Open the output file // Open the output file

8
gtsam/slam/dataset.h
View File

@ -277,6 +277,14 @@ GTSAM_EXPORT bool readBundler(const std::string& filename, SfmData &data);
*/ */
GTSAM_EXPORT bool readBAL(const std::string& filename, SfmData &data); GTSAM_EXPORT bool readBAL(const std::string& filename, SfmData &data);
/**
* @brief This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data
* as a SfmData structure. Mainly used by wrapped code.
* @param filename The name of the BAL file.
* @return SfM structure where the data is stored.
*/
GTSAM_EXPORT SfmData readBAL(const std::string& filename);
/** /**
* @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a
* SfmData structure * SfmData structure